Related papers: Reliable GNSS Localization Against Multiple Faults…
Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude…
In multimodal traffic monitoring, we gather traffic statistics for distinct transportation modes, such as pedestrians, cars and bicycles, in order to analyze and improve people's daily mobility in terms of safety and convenience. On account…
Autonomous unmanned aerial vehicle (UAV) inertial navigation exhibits an extreme dependency on the availability of global navigation satellite systems (GNSS) signals, without which it incurs in a slow but unavoidable position drift that may…
By utilizing global navigation satellite system (GNSS) position and velocity measurements, the fusion between the GNSS and the inertial navigation system provides accurate and robust navigation information. When considering land…
Accurate prediction of structural displacements under external loading is fundamental to structural health monitoring and seismic safety assessment. Although the finite element method (FEM) remains the prevailing approach because of its…
In autonomous robotic systems, precise localization is a prerequisite for safe navigation. However, in complex urban environments, GNSS positioning often suffers from signal occlusion and multipath effects, leading to unreliable absolute…
There is a growing need for vehicle positioning information to support Advanced Driver Assistance Systems (ADAS), Connectivity (V2X), and Automated Driving (AD) features. These range from a need for road determination (<5 meters), lane…
This paper introduces an algorithm able to detect and localize the occurrance of a fault in an Active Distribution Network, using the measurements collected by Phasor Measurement Units (PMUs). First, a basic algorithm that works under the…
Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…
This paper develops, implements, and validates a powerful single-antenna carrier-phase-based test to detect Global Navigation Satellite Systems (GNSS) spoofing attacks on ground vehicles equipped with a low-cost inertial measurement unit…
Using data sources beyond the Automatic Identification System to represent the context a vessel is navigating in and consequently improve situation awareness is still rare in machine learning approaches to vessel trajectory prediction…
This paper proposes a statistical verification framework using Gaussian processes (GPs) for simulation-based verification of stochastic nonlinear systems with parametric uncertainties. Given a small number of stochastic simulations, the…
Although Global Navigation Satellite Systems (GNSS) provide a general solution for bike tracking outdoors, there still exist complex riding environments where only inertial navigation systems work, such as urban canyons. Despite decades of…
One of the most critical topics in autonomous driving or ride-sharing technology is to accurately localize vehicles in the world frame. In addition to common multi-view camera systems, it usually also relies on industrial grade sensors,…
With the development of smart cities, the demand for continuous pedestrian navigation in large-scale urban environments has significantly increased. While global navigation satellite systems (GNSS) provide low-cost and reliable positioning…
Factor graphs have recently emerged as an alternative solution method for GNSS positioning. In this article, we review how factor graphs are implemented in GNSS, some of their advantages over Kalman Filters, and their importance in making…
Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…
Vision-based localization for autonomous driving has been of great interest among researchers. When a pre-built 3D map is not available, the techniques of visual simultaneous localization and mapping (SLAM) are typically adopted. Due to…
Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser…
Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…